These are available to the running program only and their values are lost as soon as the
program is stopped.
Show waypoints
The robot program uses script variables to store information about waypoints.
Select the Show Waypoints checkbox, under Variables to show script variables in the variables
list.
Variable types
bool A boolean variable whose value is either True or False.
int A whole number in the range from − 2147483648 to 2147483647 (32 bit).
float A floating point number (decimal) (32 bit).
string A sequence of characters.
pose
A vector describing the location and orientation in Cartesian space. It is a combination
of a position vector (x, y, z) and a rotation vector (rx, ry, rz) representing the orientation,
written p[x, y, z, rx, ry, rz].
list A sequence of variables.
22.3. Robot Age
This field represents the length of time since the robot was initially turned on. The numbers in the
field are not associated with program run time.
22.4. Move Robot into Position
Access the Move Robot into Position screen when the Robot Arm must move to a particular start
position before running a program, or when the Robot Arm is moving to a waypoint while modifying
a program.
In cases where the Move Robot into Position screen cannnot move the Robot Arm to the program
start position, it moves to the first waypoint in the program tree.
The Robot Arm can move to an incorrect pose if:
•
The TCP, feature pose or waypoint pose of the first movement is altered during program
execution before the first move is executed.
•
The first waypoint is inside an If or Switch program tree node.
22.4.1. Accessing the Move Robot into Position Screen
1. In the Footer, tap Play to access the Move Robot into Position screen.
2. Follow the on-screen instructions to interact withthe animation and the real robot.
UR5e 140 User Manual
22.Run Tab
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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